#pragma once
#include "Point.h"
#include "Joint.h"

class Kinematics
{
private:
	float d0, d1, a2, d4;

public:
	Kinematics(void);
	Kinematics(float d0, float d1, float a2, float d4);
	~Kinematics(void);
	Point direct(Joint j);
	Joint inverse(Point p);
};

